version: 66.08
glider: 167
mission: 6
dive: 301
start: 11 5 110 8 53 50
data:
$ID,167
$MISSION,6
$DIVE,301
$N_DIVES,308
$D_SURF,3
$D_FLARE,5
$D_TGT,1000
$D_ABORT,1090
$D_NO_BLEED,200
$D_BOOST,3
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,300
$T_MISSION,375
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-5
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,235
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51890
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-54501.922
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,134
$PITCH_MAX,3944
$C_PITCH,2822
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,36
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,790
$C_ROLL_CLIMB,1000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,69
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.75
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,490
$VBD_MAX,3960
$C_VBD,3029
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,110
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-16.491346
$PRESSURE_SLOPE,0.0001158971
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,53
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004337667
$SEABIRD_T_H,0.00063136261
$SEABIRD_T_I,2.3680945e-05
$SEABIRD_T_J,2.4321864e-06
$SEABIRD_C_G,-9.8870621
$SEABIRD_C_H,1.1051886
$SEABIRD_C_I,-0.001683808
$SEABIRD_C_J,0.00020742195
$GPS1,051110,084055,2120.299,12601.279,67,1.7,67,-2.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-65.4
$GPS2,051110,085326,2120.180,12601.284,14,1.8,14,-2.9
$SPEED_LIMITS,0.192,0.329
$TGT_NAME,PICKUP_NORTH
$TGT_LATLONG,2124.580,12601.200
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,355.7,8149,-15.8,-11.111
$D_GRID,1000
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.72,-228.7,0.0,0.0,0,91,0.00,0.00,-71.40,0.000,2,0.000,0.000,111,785,3357,0,0,0,0,0,0
$GC,93,-0.72,-228.7,5.6,-11.5,10,118,9.70,2.10,-10.00,0.000,4,0.223,0.031,2568,2227,3964,0,0,0,0,0,0
$GC,173,-0.72,-228.7,35.4,-24.3,23,182,0.00,2.20,0.00,0.000,6,0.000,0.033,2568,785,3965,0,0,0,0,0,0
$GC,498,-0.72,-228.7,124.3,-23.2,84,506,0.00,0.85,0.00,0.000,4,0.000,0.041,2568,192,3965,0,0,0,0,0,0
$GC,725,-0.72,-228.7,177.8,-22.2,125,732,0.00,0.77,0.00,0.000,6,0.000,0.020,2563,885,3966,0,0,0,0,0,0
$GC,1056,-0.72,-228.7,239.6,-17.8,186,1064,0.00,1.02,0.00,0.000,4,0.000,0.039,2563,187,3967,0,0,0,0,0,0
$GC,1210,-0.72,-228.7,267.6,-18.3,213,1216,0.00,0.75,0.00,0.000,6,0.000,0.020,2561,862,3967,0,0,0,0,0,0
$GC,1539,-0.72,-228.7,322.7,-15.8,274,1547,0.00,0.98,0.00,0.000,4,0.000,0.040,2561,192,3967,0,0,0,0,0,0
$GC,1672,-0.72,-228.7,343.5,-15.6,297,1678,0.00,0.73,0.00,0.000,6,0.000,0.021,2560,840,3967,0,0,0,0,0,0
$GC,1999,-0.72,-228.7,393.4,-14.6,358,2007,0.00,0.95,0.00,0.000,4,0.000,0.041,2560,191,3966,0,0,0,0,0,0
$GC,2084,-0.72,-228.7,405.8,-14.5,373,2090,0.00,0.55,0.00,0.000,6,0.000,0.023,2560,693,3966,0,0,0,0,0,0
$GC,2418,-0.72,-228.7,452.6,-13.7,434,2426,0.00,2.00,0.00,0.000,4,0.000,0.017,2560,2104,3964,0,0,0,0,0,0
$GC,2499,-0.72,-228.7,461.4,-10.7,448,2508,0.00,2.10,0.00,0.000,6,0.000,0.034,2560,719,3964,0,0,0,0,0,0
$GC,2836,-0.72,-228.7,504.2,-12.4,506,2840,0.10,1.98,0.00,0.000,4,0.167,0.018,2586,2109,3961,0,0,0,0,0,0
$GC,2882,-0.72,-228.7,508.9,-8.4,510,2885,0.00,2.10,0.00,0.000,6,0.000,0.034,2586,710,3961,0,0,0,0,0,0
$GC,3209,-0.72,-228.7,538.4,-8.9,540,3213,0.00,1.95,0.00,0.000,4,0.000,0.018,2586,2096,3958,0,0,0,0,0,0
$GC,3289,-0.72,-228.7,544.9,-7.6,547,3293,0.00,2.03,0.00,0.000,6,0.000,0.034,2585,742,3958,0,0,0,0,0,0
$GC,3618,-0.72,-228.7,575.0,-9.9,577,3621,0.00,1.92,0.00,0.000,4,0.000,0.018,2585,2102,3955,0,0,0,0,0,0
$GC,3686,-0.72,-228.7,581.5,-8.8,583,3690,0.00,2.05,0.00,0.000,6,0.000,0.035,2586,743,3955,0,0,0,0,0,0
$GC,4025,-0.72,-228.7,614.6,-9.7,608,4026,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,743,3952,0,0,0,0,0,0
$GC,4334,-0.72,-228.7,642.7,-9.0,623,4338,0.00,1.92,0.00,0.000,4,0.000,0.018,2586,2105,3950,0,0,0,0,0,0
$GC,4389,-0.72,-228.7,647.5,-8.0,625,4393,0.00,2.03,0.00,0.000,6,0.000,0.037,2586,764,3950,0,0,0,0,0,0
$GC,4712,-0.72,-228.7,675.1,-8.6,641,4716,0.00,1.90,0.00,0.000,4,0.000,0.019,2586,2106,3947,0,0,0,0,0,0
$GC,4796,-0.72,-228.7,681.7,-7.3,644,4803,0.00,2.03,0.00,0.000,6,0.000,0.037,2586,778,3946,0,0,0,0,0,0
$GC,5113,-0.72,-228.7,707.2,-8.2,660,5116,0.00,1.88,0.00,0.000,4,0.000,0.020,2586,2098,3943,0,0,0,0,0,0
$GC,5187,-0.72,-228.7,712.7,-7.4,663,5191,0.00,2.03,0.00,0.000,6,0.000,0.037,2586,774,3943,0,0,0,0,0,0
$GC,5514,-0.72,-228.7,737.9,-7.5,679,5518,0.00,1.88,0.00,0.000,4,0.000,0.020,2585,2094,3941,0,0,0,0,0,0
$GC,5561,-0.72,-228.7,741.1,-6.5,681,5565,0.00,1.98,0.00,0.000,6,0.000,0.038,2586,790,3941,0,0,0,0,0,0
$GC,5895,-0.72,-228.7,765.7,-7.4,697,5899,0.00,1.92,0.00,0.000,4,0.000,0.021,2586,2090,3938,0,0,0,0,0,0
$GC,5956,-0.72,-228.7,769.9,-7.0,699,5964,0.00,1.95,0.00,0.000,6,0.000,0.038,2586,804,3938,0,0,0,0,0,0
$GC,6274,-0.72,-228.7,793.7,-7.8,715,6278,0.00,1.85,0.00,0.000,4,0.000,0.020,2586,2102,3935,0,0,0,0,0,0
$GC,6335,-0.72,-228.7,798.4,-6.7,717,6341,0.00,1.98,0.00,0.000,6,0.000,0.039,2586,816,3935,0,0,0,0,0,0
$GC,6653,-0.72,-228.7,823.4,-7.8,733,6657,0.00,1.83,0.00,0.000,4,0.000,0.021,2587,2096,3933,0,0,0,0,0,0
$GC,6714,-0.72,-228.7,827.9,-7.3,735,6722,0.00,1.95,0.00,0.000,6,0.000,0.038,2586,826,3933,0,0,0,0,0,0
$GC,7031,-0.72,-228.7,850.7,-7.3,751,7032,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,826,3930,0,0,0,0,0,0
$GC,7342,-0.72,-228.7,874.8,-8.2,766,7345,0.00,1.83,0.00,0.000,4,0.000,0.021,2586,2106,3929,0,0,0,0,0,0
$GC,7410,-0.72,-228.7,880.0,-7.8,769,7414,0.00,1.92,0.00,0.000,6,0.000,0.039,2586,835,3928,0,0,0,0,0,0
$GC,7745,-0.72,-228.7,906.0,-7.6,785,7749,0.00,1.80,0.00,0.000,4,0.000,0.021,2586,2098,3926,0,0,0,0,0,0
$GC,7801,-0.72,-228.7,910.0,-6.6,787,7804,0.00,1.95,0.00,0.000,6,0.000,0.039,2586,851,3926,0,0,0,0,0,0
$GC,8123,-0.72,-228.7,932.5,-6.9,803,8126,0.00,1.77,0.00,0.000,4,0.000,0.021,2586,2097,3925,0,0,0,0,0,0
$GC,8159,-0.72,-228.7,934.9,-6.7,804,8163,0.00,1.92,0.00,0.000,6,0.000,0.040,2585,835,3925,0,0,0,0,0,0
$GC,8482,-0.72,-228.7,957.0,-6.9,820,8485,0.00,1.80,0.00,0.000,4,0.000,0.021,2585,2097,3924,0,0,0,0,0,0
$GC,8520,-0.72,-228.7,959.6,-5.5,821,8527,0.00,1.90,0.00,0.000,6,0.000,0.040,2586,852,3923,0,0,0,0,0,0
$GC,8839,-0.72,-228.7,981.3,-6.8,837,8842,0.00,1.77,0.00,0.000,4,0.000,0.021,2586,2097,3922,0,0,0,0,0,0
$GC,8885,-0.72,-228.7,984.4,-6.2,839,8889,0.00,1.90,0.00,0.000,6,0.000,0.040,2586,854,3922,0,0,0,0,0,0
$STATE,9112,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9112,begin apogee
$GC,9120,-0.14,0.0,1000.3,7.0,850,9313,0.52,0.00,184.70,1.412,4,0.105,0.000,2768,852,3027,0,0,0,0,0,0
$STATE,9314,end apogee,CONTROL_FINISHED_OK
$STATE,9314,begin climb
$GC,9316,0.72,228.7,1009.2,0.0,859,9523,0.80,1.10,199.82,1.353,4,0.054,0.051,3056,200,2096,0,0,0,0,0,0
$GC,9778,0.72,228.7,941.6,18.4,879,9782,0.00,1.00,0.00,0.000,6,0.000,0.028,3054,902,2086,0,0,0,0,0,0
$GC,10106,0.72,228.7,882.9,17.9,895,10109,0.00,1.10,0.00,0.000,4,0.000,0.047,3061,191,2084,0,0,0,0,0,0
$GC,10230,0.72,228.7,860.7,17.2,900,10234,0.00,1.02,0.00,0.000,6,0.000,0.028,3061,922,2083,0,0,0,0,0,0
$GC,10552,0.72,228.7,807.2,16.4,916,10556,0.00,2.03,0.00,0.000,4,0.000,0.024,3061,2301,2082,0,0,0,0,0,0
$GC,10638,0.72,228.7,793.3,16.5,919,10645,0.00,1.98,0.00,0.000,6,0.000,0.037,3068,1019,2081,0,0,0,0,0,0
$GC,10954,0.72,228.7,738.8,17.8,935,10957,0.00,1.88,0.00,0.000,4,0.000,0.025,3068,2305,2080,0,0,0,0,0,0
$GC,11055,0.72,228.7,721.6,16.5,939,11059,0.00,1.92,0.00,0.000,6,0.000,0.037,3077,1034,2080,0,0,0,0,0,0
$GC,11377,0.72,228.7,664.0,17.6,955,11381,0.00,1.85,0.00,0.000,4,0.000,0.024,3077,2291,2079,0,0,0,0,0,0
$GC,11449,0.72,228.7,651.5,17.5,958,11453,0.00,1.92,0.00,0.000,6,0.000,0.038,3082,1053,2079,0,0,0,0,0,0
$GC,11768,0.72,228.7,596.8,17.1,974,11772,0.00,1.33,0.00,0.000,4,0.000,0.046,3090,187,2079,0,0,0,0,0,0
$GC,11828,0.72,228.7,585.2,17.8,979,11837,0.10,1.08,0.00,0.000,6,0.169,0.026,3058,952,2079,0,0,0,0,0,0
$GC,12154,0.72,228.7,538.0,14.2,1010,12158,0.00,2.08,0.00,0.000,4,0.000,0.024,3058,2394,2079,0,0,0,0,0,0
$GC,12317,0.72,228.7,515.8,13.7,1024,12321,0.00,2.05,0.00,0.000,6,0.000,0.037,3066,1052,2078,0,0,0,0,0,0
$GC,12648,0.72,228.7,467.6,14.9,1074,12656,0.00,1.98,0.00,0.000,4,0.000,0.024,3066,2390,2078,0,0,0,0,0,0
$GC,12675,0.72,228.7,463.5,15.2,1078,12683,0.00,2.05,0.00,0.000,6,0.000,0.035,3075,1063,2078,0,0,0,0,0,0
$GC,13012,0.72,228.7,413.3,13.9,1139,13018,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,1062,2079,0,0,0,0,0,0
$GC,13342,0.72,228.7,366.9,15.2,1200,13350,0.00,1.33,0.00,0.000,4,0.000,0.045,3081,192,2078,0,0,0,0,0,0
$GC,13387,0.72,228.7,360.3,16.4,1207,13395,0.00,1.23,0.00,0.000,6,0.000,0.025,3081,1067,2078,0,0,0,0,0,0
$GC,13720,0.72,228.7,314.0,15.2,1268,13728,0.00,1.95,0.00,0.000,4,0.000,0.024,3081,2399,2078,0,0,0,0,0,0
$GC,13774,0.72,228.7,306.3,14.2,1277,13781,0.12,2.03,0.00,0.000,6,0.175,0.034,3058,1066,2079,0,0,0,0,0,0
$GC,14107,0.76,259.3,271.3,10.1,1338,14134,0.00,0.00,23.62,0.845,6,0.000,0.000,3059,1066,1972,0,0,0,0,0,0
$GC,14463,0.77,271.6,232.8,10.7,1402,14480,0.00,0.00,11.88,0.761,6,0.000,0.000,3058,1066,1920,0,0,0,0,0,0
$GC,14812,0.82,313.6,193.6,9.7,1464,14853,0.00,1.38,35.15,0.773,4,0.000,0.044,3064,191,1749,0,0,0,0,0,0
$GC,15040,0.82,313.6,166.5,11.6,1504,15048,0.00,1.25,0.00,0.000,6,0.000,0.020,3064,1132,1745,0,0,0,0,0,0
$GC,15373,0.89,362.7,133.8,9.5,1565,15418,0.12,1.50,40.05,0.711,4,0.086,0.042,3130,184,1549,0,0,0,0,0,0
$GC,15513,0.89,362.7,114.5,13.9,1588,15521,0.00,1.25,0.00,0.000,6,0.000,0.019,3130,1130,1545,0,0,0,0,0,0
$GC,15840,0.89,362.7,75.5,11.9,1649,15848,0.00,1.42,0.00,0.000,4,0.000,0.041,3135,189,1543,0,0,0,0,0,0
$GC,16009,0.89,362.7,51.2,12.4,1680,16017,0.00,1.23,0.00,0.000,6,0.000,0.019,3135,1137,1543,0,0,0,0,0,0
$GC,16335,0.92,389.5,10.4,10.2,1741,16365,0.00,1.45,22.40,0.586,4,0.000,0.037,3142,183,1440,0,0,0,0,0,0
$STATE,16392,end climb,SURFACE_DEPTH_REACHED
$STATE,16392,begin surface coast
$FINISH,1.9,1.022372
$STATE,16402,end surface coast,CONTROL_FINISHED_OK
$STATE,16402,begin surface
$SM_CCo,16422,13.93,0.116,1,0,1397,400.08
$SM_GC,1.20,0.00,0.00,13.93,0.000,0.000,0.116,97,882,1397,-8.52,2.57,400.08
$IRIDIUM_FIX,2113.32,12559.43,051110,080808
$TT8_MAMPS,0.028462
$HUMID,40.51
$INTERNAL_PRESSURE,8.91636
$TCM_TEMP,27.90
$XPDR_PINGS,0
$24V_AH,22.8,56.127
$10V_AH,10.2,51.974
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,19.225,115.900,517.625,13.925,0.000,81.468,98.670,241.201,0.000,0.000,15.028,4311.515,7382.034,609.326,4321.912,549.034,0.000,2196.069,0.000,3906.879,0.000,0.543,0.000
$DEVICE_MAMPS,222.615,51.255,1412.190,116.280,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1195.490,1518.972,1958.785,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333768
$DATA_FILE_SIZE,103505,1751
$CAP_FILE_SIZE,186754,0
$CFSIZE,260165632,146534400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$CURRENT,0.041,175.6,1
$GPS,051110,132906,2122.106,12601.104,34,1.3,35,-2.9